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Updates from Tony.

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curt 1999-08-17 21:18:16 +00:00
parent f38dcfd995
commit bfcfbcaa5e
5 changed files with 250 additions and 251 deletions
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42
src/FDM/LaRCsim/c172_aero.c
View file

@ -123,9 +123,11 @@ SCALAR interp(SCALAR *y_table, SCALAR *x_table, int Ntable, SCALAR x)
} }
else if(x >= x_table[Ntable-1]) else if(x >= x_table[Ntable-1])
{ {
y=y_table[Ntable-1]; slope=(y_table[Ntable-1]-y_table[Ntable-2])/(x_table[Ntable-1]-x_table[Ntable-2]);
/* printf("x larger than x_table[N]: %g %g %d\n",x,x_table[NCL-1],Ntable-1); */ y=slope*(x-x_table[Ntable-1]) +y_table[Ntable-1];
}
/* printf("x larger than x_table[N]: %g %g %d\n",x,x_table[NCL-1],Ntable-1);
*/ }
else /*x is within the table, interpolate linearly to find y value*/ else /*x is within the table, interpolate linearly to find y value*/
{ {
@ -150,11 +152,8 @@ void aero( SCALAR dt, int Initialize ) {
static SCALAR alpha_ind[NCL]={-0.087,0,0.175,0.209,0.24,0.262,0.278,0.303,0.314,0.332,0.367}; static SCALAR alpha_ind[NCL]={-0.087,0,0.175,0.209,0.24,0.262,0.278,0.303,0.314,0.332,0.367};
static SCALAR CLtable[NCL]={-0.14,0.31,1.21,1.376,1.51249,1.591,1.63,1.60878,1.53712,1.376,1.142}; static SCALAR CLtable[NCL]={-0.14,0.31,1.21,1.376,1.51249,1.591,1.63,1.60878,1.53712,1.376,1.142};
/*Note that CLo,Cdo,Cmo will likely change with flap setting so
they may not be declared static in the future */
/* printf("Initialize= %d\n",Initialize); */ /* printf("Initialize= %d\n",Initialize); */
/* if (Initialize != 0)
{ */
/* printf("Initializing aero model...Initialize= %d\n", Initialize); /* printf("Initializing aero model...Initialize= %d\n", Initialize);
*/ CLadot=1.7; */ CLadot=1.7;
CLq=3.9; CLq=3.9;
@ -196,7 +195,11 @@ void aero( SCALAR dt, int Initialize ) {
b=35.8; /*wing span ft */ b=35.8; /*wing span ft */
Sw=174; /*wing planform surface area ft^2*/ Sw=174; /*wing planform surface area ft^2*/
rPiARe=0.054; /*reciprocal of Pi*AR*e*/ rPiARe=0.054; /*reciprocal of Pi*AR*e*/
/* } */
MaxTakeoffWeight=2550;
EmptyWeight=1500;
Zcg=0.51;
/* /*
LaRCsim uses: LaRCsim uses:
@ -208,6 +211,29 @@ void aero( SCALAR dt, int Initialize ) {
aileron > 0 => right wing up aileron > 0 => right wing up
rudder > 0 => ANL rudder > 0 => ANL
*/ */
/*do weight & balance here since there is no better place*/
Weight=Mass / INVG;
if(Weight > 2550)
{ Weight=2550; }
else if(Weight < 1500)
{ Weight=1500; }
if(Dx_cg > 0.5586)
{ Dx_cg = 0.5586; }
else if(Dx_cg < -0.4655)
{ Dx_cg = -0.4655; }
Cg=Dx_cg/cbar +0.25;
Dz_cg=Zcg*cbar;
long_trim=0; long_trim=0;
if(Aft_trim) long_trim = long_trim - trim_inc; if(Aft_trim) long_trim = long_trim - trim_inc;
if(Fwd_trim) long_trim = long_trim + trim_inc; if(Fwd_trim) long_trim = long_trim + trim_inc;

68
src/FDM/LaRCsim/c172_aero.h
View file

@ -2,47 +2,51 @@
/*global declarations of aero model parameters*/ /*global declarations of aero model parameters*/
static SCALAR CLadot; SCALAR CLadot;
static SCALAR CLq; SCALAR CLq;
static SCALAR CLde; SCALAR CLde;
static SCALAR CLo; SCALAR CLo;
static SCALAR Cdo; SCALAR Cdo;
static SCALAR Cda; /*Not used*/ SCALAR Cda; /*Not used*/
static SCALAR Cdde; SCALAR Cdde;
static SCALAR Cma; SCALAR Cma;
static SCALAR Cmadot; SCALAR Cmadot;
static SCALAR Cmq; SCALAR Cmq;
static SCALAR Cmo; SCALAR Cmo;
static SCALAR Cmde; SCALAR Cmde;
static SCALAR Clbeta; SCALAR Clbeta;
static SCALAR Clp; SCALAR Clp;
static SCALAR Clr; SCALAR Clr;
static SCALAR Clda; SCALAR Clda;
static SCALAR Cldr; SCALAR Cldr;
static SCALAR Cnbeta; SCALAR Cnbeta;
static SCALAR Cnp; SCALAR Cnp;
static SCALAR Cnr; SCALAR Cnr;
static SCALAR Cnda; SCALAR Cnda;
static SCALAR Cndr; SCALAR Cndr;
static SCALAR Cybeta; SCALAR Cybeta;
static SCALAR Cyp; SCALAR Cyp;
static SCALAR Cyr; SCALAR Cyr;
static SCALAR Cyda; SCALAR Cyda;
static SCALAR Cydr; SCALAR Cydr;
/*nondimensionalization quantities*/ /*nondimensionalization quantities*/
/*units here are ft and lbs */ /*units here are ft and lbs */
static SCALAR cbar; /*mean aero chord ft*/ SCALAR cbar; /*mean aero chord ft*/
static SCALAR b; /*wing span ft */ SCALAR b; /*wing span ft */
static SCALAR Sw; /*wing planform surface area ft^2*/ SCALAR Sw; /*wing planform surface area ft^2*/
static SCALAR rPiARe; /*reciprocal of Pi*AR*e*/ SCALAR rPiARe; /*reciprocal of Pi*AR*e*/
SCALAR Weight; /*lbs*/
SCALAR MaxTakeoffWeight,EmptyWeight;
SCALAR Cg; /*%MAC*/
SCALAR Zcg; /*%MAC*/
SCALAR CLwbh,CL,cm,cd,cn,cy,croll,cbar_2V,b_2V,qS,qScbar,qSb,ps,rs; SCALAR CLwbh,CL,cm,cd,cn,cy,croll,cbar_2V,b_2V,qS,qScbar,qSb,ps,rs;

3
src/FDM/LaRCsim/c172_engine.c
View file

@ -65,6 +65,7 @@ $Header$
#include "ls_generic.h" #include "ls_generic.h"
#include "ls_sim_control.h" #include "ls_sim_control.h"
#include "ls_cockpit.h" #include "ls_cockpit.h"
#include "c172_aero.h"
extern SIM_CONTROL sim_control_; extern SIM_CONTROL sim_control_;
@ -77,6 +78,8 @@ void engine( SCALAR dt, int init ) {
/* F_Z_engine = Throttle[3]*11.36/0.2; */ /* original code */ /* F_Z_engine = Throttle[3]*11.36/0.2; */ /* original code */
F_X_engine = Throttle[3]*350/0.83; F_X_engine = Throttle[3]*350/0.83;
F_Z_engine = Throttle[3]*4.9/0.83; F_Z_engine = Throttle[3]*4.9/0.83;
M_m_engine = F_X_engine*0.734*cbar;
/* 0.734 - estimated (WAGged) location of thrust line in the z-axis*/
Throttle_pct = Throttle[3]; Throttle_pct = Throttle[3];
} }

56
src/FDM/LaRCsim/c172_gear.c
View file

@ -12,8 +12,7 @@
---------------------------------------------------------------------------- ----------------------------------------------------------------------------
GENEALOGY: Renamed navion_gear.c originally created 931012 by E. B. Jackson GENEALOGY: Created 931012 by E. B. Jackson
---------------------------------------------------------------------------- ----------------------------------------------------------------------------
@ -37,34 +36,9 @@
$Header$ $Header$
$Log$ $Log$
Revision 1.6 1999/08/08 15:12:33 curt Revision 1.7 1999/08/17 19:18:16 curt
Updates from Tony. Updates from Tony.
Revision 1.1.1.1 1999/04/05 21:32:45 curt
Start of 0.6.x branch.
Revision 1.6 1998/10/17 01:34:16 curt
C++ ifying ...
Revision 1.5 1998/09/29 02:03:00 curt
Added a brake + autopilot mods.
Revision 1.4 1998/08/06 12:46:40 curt
Header change.
Revision 1.3 1998/02/03 23:20:18 curt
Lots of little tweaks to fix various consistency problems discovered by
Solaris' CC. Fixed a bug in fg_debug.c with how the fgPrintf() wrapper
passed arguments along to the real printf(). Also incorporated HUD changes
by Michele America.
Revision 1.2 1998/01/19 18:40:29 curt
Tons of little changes to clean up the code and to remove fatal errors
when building with the c++ compiler.
Revision 1.1 1997/05/29 00:10:02 curt
Initial Flight Gear revision.
---------------------------------------------------------------------------- ----------------------------------------------------------------------------
@ -93,52 +67,51 @@ Initial Flight Gear revision.
#include "ls_generic.h" #include "ls_generic.h"
#include "ls_cockpit.h" #include "ls_cockpit.h"
/* SCALAR Brake_pct; */
void sub3( DATA v1[], DATA v2[], DATA result[] ) sub3( DATA v1[], DATA v2[], DATA result[] )
{ {
result[0] = v1[0] - v2[0]; result[0] = v1[0] - v2[0];
result[1] = v1[1] - v2[1]; result[1] = v1[1] - v2[1];
result[2] = v1[2] - v2[2]; result[2] = v1[2] - v2[2];
} }
void add3( DATA v1[], DATA v2[], DATA result[] ) add3( DATA v1[], DATA v2[], DATA result[] )
{ {
result[0] = v1[0] + v2[0]; result[0] = v1[0] + v2[0];
result[1] = v1[1] + v2[1]; result[1] = v1[1] + v2[1];
result[2] = v1[2] + v2[2]; result[2] = v1[2] + v2[2];
} }
void cross3( DATA v1[], DATA v2[], DATA result[] ) cross3( DATA v1[], DATA v2[], DATA result[] )
{ {
result[0] = v1[1]*v2[2] - v1[2]*v2[1]; result[0] = v1[1]*v2[2] - v1[2]*v2[1];
result[1] = v1[2]*v2[0] - v1[0]*v2[2]; result[1] = v1[2]*v2[0] - v1[0]*v2[2];
result[2] = v1[0]*v2[1] - v1[1]*v2[0]; result[2] = v1[0]*v2[1] - v1[1]*v2[0];
} }
void multtrans3x3by3( DATA m[][3], DATA v[], DATA result[] ) multtrans3x3by3( DATA m[][3], DATA v[], DATA result[] )
{ {
result[0] = m[0][0]*v[0] + m[1][0]*v[1] + m[2][0]*v[2]; result[0] = m[0][0]*v[0] + m[1][0]*v[1] + m[2][0]*v[2];
result[1] = m[0][1]*v[0] + m[1][1]*v[1] + m[2][1]*v[2]; result[1] = m[0][1]*v[0] + m[1][1]*v[1] + m[2][1]*v[2];
result[2] = m[0][2]*v[0] + m[1][2]*v[1] + m[2][2]*v[2]; result[2] = m[0][2]*v[0] + m[1][2]*v[1] + m[2][2]*v[2];
} }
void mult3x3by3( DATA m[][3], DATA v[], DATA result[] ) mult3x3by3( DATA m[][3], DATA v[], DATA result[] )
{ {
result[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; result[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];
result[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; result[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];
result[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; result[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];
} }
void clear3( DATA v[] ) clear3( DATA v[] )
{ {
v[0] = 0.; v[1] = 0.; v[2] = 0.; v[0] = 0.; v[1] = 0.; v[2] = 0.;
} }
void gear( SCALAR dt, int Initialize ) { gear()
{
char rcsid[] = "$Id$"; char rcsid[] = "$Id$";
/* /*
* Aircraft specific initializations and data goes here * Aircraft specific initializations and data goes here
*/ */
@ -183,7 +156,7 @@ char rcsid[] = "$Id$";
* V V * V V
*/ */
static DATA sliding_mu = 0.5; static DATA sliding_mu = 0.5;
static DATA rolling_mu = 0.01; static DATA rolling_mu = 0.01;
static DATA max_brake_mu = 0.6; static DATA max_brake_mu = 0.6;
@ -210,8 +183,6 @@ char rcsid[] = "$Id$";
int i; /* per wheel loop counter */ int i; /* per wheel loop counter */
Brake_pct=0;
/* /*
* Execution starts here * Execution starts here
*/ */
@ -224,8 +195,7 @@ char rcsid[] = "$Id$";
* Put aircraft specific executable code here * Put aircraft specific executable code here
*/ */
/* replace with cockpit brake handle connection code */ percent_brake[1] = 0.; /* replace with cockpit brake handle connection code */
percent_brake[1] = Brake_pct;
percent_brake[2] = percent_brake[1]; percent_brake[2] = percent_brake[1];
caster_angle_rad[0] = 0.03*Rudder_pedal; caster_angle_rad[0] = 0.03*Rudder_pedal;

332
src/FDM/LaRCsim/c172_main.c
View file

@ -43,6 +43,7 @@ typedef struct
double latitude,longitude,altitude; double latitude,longitude,altitude;
double vc,alpha,beta,gamma; double vc,alpha,beta,gamma;
double theta,phi,psi; double theta,phi,psi;
double weight,cg;
int use_gamma_tmg; int use_gamma_tmg;
}InitialConditions; }InitialConditions;
@ -50,6 +51,8 @@ typedef struct
// vc knots (calibrated airspeed, close to indicated) // vc knots (calibrated airspeed, close to indicated)
// altitude ft // altitude ft
// all angles in degrees // all angles in degrees
// weight lbs
// cg %MAC
// if use_gamma_tmg =1 then theta will be computed // if use_gamma_tmg =1 then theta will be computed
// from theta=alpha+gamma and the value given will // from theta=alpha+gamma and the value given will
// be ignored. Otherwise gamma is computed from // be ignored. Otherwise gamma is computed from
@ -61,6 +64,9 @@ void setIC(InitialConditions IC)
SCALAR alphar,betar,thetar,phir,psir,gammar; SCALAR alphar,betar,thetar,phir,psir,gammar;
SCALAR sigma,ps,Ts,a; SCALAR sigma,ps,Ts,a;
Mass=IC.weight*INVG;
Dx_cg=(IC.cg-0.25)*4.9;
Latitude=IC.latitude*DEG_TO_RAD; Latitude=IC.latitude*DEG_TO_RAD;
Longitude=IC.longitude*DEG_TO_RAD; Longitude=IC.longitude*DEG_TO_RAD;
Altitude=IC.altitude; Altitude=IC.altitude;
@ -122,7 +128,7 @@ int trim_long(int kmax, InitialConditions IC)
double tol=1E-3; double tol=1E-3;
double a_tol=tol/10; double a_tol=tol/10;
double alpha_step=0.001; double alpha_step=0.001;
int k=0,i,j=0,jmax=75,sum=0; int k=0,i,j=0,jmax=10,sum=0;
ls_loop(0.0,-1); ls_loop(0.0,-1);
do{ do{
//printf("k: %d\n",k); //printf("k: %d\n",k);
@ -175,33 +181,135 @@ int trim_long(int kmax, InitialConditions IC)
return k; return k;
} }
int trim_ground(int kmax, InitialConditions IC)
{
double elevator,alpha,qdot_prev,alt_prev,step;
double tol=1E-3;
double a_tol=tol/10;
double alpha_step=0.001;
int k=0,i,j=0,jmax=40,sum=0,m=0;
Throttle_pct=0;
Brake_pct=1;
Theta=5*DEG_TO_RAD;
IC.altitude=Runway_altitude;
printf("udot: %g\n",U_dot_body);
setIC(IC);
printf("Altitude: %g, Runway_altitude: %g\n",Altitude,Runway_altitude);
qdot_prev=1.0E6;
ls_loop(0.0,-1);
do{
//printf("k: %d\n",k);
step=1;
printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z_gear: %g, M_m_gear: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z_gear,M_m_gear,F_Z);
m=0;
while((fabs(W_dot_body) > tol) && (m < 10))
{
j=0;
do{
alt_prev=IC.altitude;
IC.altitude+=step;
setIC(IC);
ls_loop(0.0,-1);
printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z);
j++;
}while((W_dot_body < 0) && (j < jmax));
IC.altitude-=step;
step/=10;
printf("step: %g\n",step);
m++;
}
sum+=j;
printf("IC.altitude: %g, Altitude: %g, Runway_altitude: %g,wdot: %g,F_Z_gear: %g, M_m_gear: %g,F_Z: %g\n",IC.altitude,Altitude,Runway_altitude,W_dot_body,F_Z_gear,M_m_gear,F_Z);
j=0;
while((Q_dot_body <= qdot_prev) && (j < jmax))
{
qdot_prev=Q_dot_body;
IC.theta+=Q_dot_body;
setIC(IC);
ls_loop(0.0,-1);
j++;
printf("\tTheta: %7.4f, qdot: %10.6f, qdot_prev: %10.6f, j: %d\n",Theta*RAD_TO_DEG,Q_dot_body,qdot_prev,j);
}
IC.theta-=qdot_prev;
sum+=j;
printf("\tTheta: %7.4f, qdot: %10.6f, W_dot_body: %g\n",Theta,Q_dot_body,W_dot_body);
j=0;
if(W_dot_body > tol)
{
step=1;
while((W_dot_body > 0) && (j <jmax))
{
IC.altitude-=step;
setIC(IC);
ls_loop(0.0,-1);
j++;
}
}
k++;j=0;
}while(((fabs(W_dot_body) > tol) || (fabs(Q_dot_body) > tol)) && (k < kmax));
printf("Total Iterations: %d\n",sum);
return k;
}
void do_trims(int kmax,FILE *out,InitialConditions IC) void do_trims(int kmax,FILE *out,InitialConditions IC)
{ {
int k=0; int k=0,i;
double speed,elevator; double speed,elevator,cmcl;
out=fopen("trims.out","w"); out=fopen("trims.out","w");
speed=55; speed=55;
while(speed < 150)
for(i=1;i<=5;i++)
{ {
IC.vc=speed; switch(i)
Long_control=0;Theta=0;Throttle_pct=0.2; {
case 1: IC.weight=1500;IC.cg=0.155;break;
k=trim_long(kmax,IC); case 2: IC.weight=1500;IC.cg=0.364;break;
if(Long_control <= 0) case 3: IC.weight=1950;IC.cg=0.155;break;
elevator=Long_control*28; case 4: IC.weight=2550;IC.cg=0.257;break;
else case 5: IC.weight=2550;IC.cg=0.364;break;
elevator=Long_control*23; }
fprintf(out,"%g,%g,%g,%g,%g,%d\n",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k); speed=50;
printf("%g,%g,%g,%g,%d,%g,%g,%g\n",V_calibrated_kts,Alpha*RAD_TO_DEG,elevator,Throttle_pct,k,W_body,U_body,Q_body); while(speed <= 150)
{
IC.vc=speed;
Long_control=0;Theta=0;Throttle_pct=0.0;
if(k >= kmax) k=trim_long(kmax,IC);
{ if(Long_control <= 0)
printf("kmax exceeded at: %g knots\n",V_calibrated_kts); elevator=Long_control*28;
printf("wdot: %g, udot: %g, qdot: %g\n\n",W_dot_body,U_dot_body,Q_dot_body); else
} elevator=Long_control*23;
speed+=10; if(fabs(CL) > 1E-3)
} {
cmcl=cm / CL;
}
if(k < kmax)
{
fprintf(out,"%g,%g,%g,%g,%g,%d",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k);
fprintf(out,",%g,%g,%g,%g,%g\n",CL,cm,cmcl,Weight,Cg);
/* printf("%g,%g,%g,%g,%g,%g,%g,%g,%g,%g\n",V_calibrated_kts,Alpha*RAD_TO_DEG,elevator,CL,cm,Cmo,Cma,Cmde,Mass*32.174,Dx_cg);
*/ }
else
{
printf("kmax exceeded at: %g knots, %g lbs, %g %%MAC\n",V_calibrated_kts,Weight,Cg);
printf("wdot: %g, udot: %g, qdot: %g\n\n",W_dot_body,U_dot_body,Q_dot_body);
}
speed+=10;
}
}
fclose(out); fclose(out);
} }
@ -354,7 +462,7 @@ int main(int argc, char *argv[]) {
double save_alt = 0.0; double save_alt = 0.0;
int multiloop=1,k=0,i; int multiloop=1,k=0,i;
double time=0,elev_trim,elev_trim_save,elevator,speed; double time=0,elev_trim,elev_trim_save,elevator,speed,cmcl;
FILE *out; FILE *out;
double hgain,hdiffgain,herr,herrprev,herr_diff,htarget; double hgain,hdiffgain,herr,herrprev,herr_diff,htarget;
InitialConditions IC; InitialConditions IC;
@ -370,22 +478,46 @@ int main(int argc, char *argv[]) {
Runway_altitude = 18.0; Runway_altitude = 18.0;
IC.altitude=strtod(argv[2],NULL); IC.altitude=strtod(argv[2],NULL);
IC.vc=strtod(argv[1],NULL); IC.vc=strtod(argv[1],NULL);
IC.alpha=strtod(argv[3],NULL); IC.alpha=10;
IC.beta=0; IC.beta=0;
IC.gamma=strtod(argv[3],NULL); IC.theta=strtod(argv[3],NULL);
IC.use_gamma_tmg=1; IC.use_gamma_tmg=0;
IC.phi=0; IC.phi=0;
IC.psi=0; IC.psi=0;
IC.weight=1500;
IC.cg=0.155;
Long_control=strtod(argv[4],NULL); Long_control=strtod(argv[4],NULL);
setIC(IC); setIC(IC);
printf("Out setIC\n"); printf("Out setIC\n");
ls_ForceAltitude(IC.altitude); ls_ForceAltitude(IC.altitude);
fgLaRCsimInit(0.01); fgLaRCsimInit(0.01);
/* printf("trim_long():\n"); while(IC.alpha < 30.0)
k=trim_long(200,IC); */ {
setIC(IC);
ls_loop(0.0,-1);
printf("CL: %g ,Alpha: %g\n",CL,IC.alpha);
IC.alpha+=1.0;
}
/*trim_ground(10,IC);*/
/* printf("%g,%g\n",Theta,Gamma_vert_rad);
printf("trim_long():\n");
k=trim_long(200,IC);
Throttle_pct=Throttle_pct-0.2;
printf("%g,%g\n",Theta,Gamma_vert_rad);
out=fopen("dive.out","w");
time=0;
while(time < 30.0)
{
ls_update(1);
cmcl=cm/CL;
fprintf(out,"%g,%g,%g,%g,%g,%d",V_calibrated_kts,Alpha*RAD_TO_DEG,Long_control,Throttle_pct,Gamma_vert_rad,k);
fprintf(out,",%g,%g,%g\n",CL,cm,cmcl);
time+=0.01;
}
fclose(out);
printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG); printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG);
printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG); printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG);
printf("V_north: %8.2f, V_east_rel_ground: %8.2f, V_east: %8.2f, V_down: %8.2f\n",V_north,V_east_rel_ground,V_east,V_down); printf("V_north: %8.2f, V_east_rel_ground: %8.2f, V_east: %8.2f, V_down: %8.2f\n",V_north,V_east_rel_ground,V_east,V_down);
@ -396,12 +528,12 @@ int main(int argc, char *argv[]) {
ls_update(1); ls_update(1);
printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG); printf("V_rel_wind: %8.2f, Alpha: %8.2f, Beta: %8.2f\n",V_rel_wind,Alpha*RAD_TO_DEG,Beta*RAD_TO_DEG);
printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG); printf("Theta: %8.2f, Gamma: %8.2f, Alpha_tmg: %8.2f\n",Theta*RAD_TO_DEG,Gamma_vert_rad*RAD_TO_DEG,Theta*RAD_TO_DEG-Gamma_vert_rad*RAD_TO_DEG);
*/
/* Inform LaRCsim of the local terrain altitude */ /* Inform LaRCsim of the local terrain altitude */
do_trims(200,out,IC);
return 1; return 1;
} }
@ -581,143 +713,7 @@ int FGInterface_2_LaRCsim (FGInterface& f) {
return( 0 ); return( 0 );
} }
*/
// Convert from the LaRCsim generic_ struct to the FGInterface struct
int fgLaRCsim_2_FGInterface (FGInterface& f) {
// Mass properties and geometry values
f.set_Inertias( Mass, I_xx, I_yy, I_zz, I_xz );
// f.set_Pilot_Location( Dx_pilot, Dy_pilot, Dz_pilot );
f.set_CG_Position( Dx_cg, Dy_cg, Dz_cg );
// Forces
// f.set_Forces_Body_Total( F_X, F_Y, F_Z );
// f.set_Forces_Local_Total( F_north, F_east, F_down );
// f.set_Forces_Aero( F_X_aero, F_Y_aero, F_Z_aero );
// f.set_Forces_Engine( F_X_engine, F_Y_engine, F_Z_engine );
// f.set_Forces_Gear( F_X_gear, F_Y_gear, F_Z_gear );
// Moments
// f.set_Moments_Total_RP( M_l_rp, M_m_rp, M_n_rp );
// f.set_Moments_Total_CG( M_l_cg, M_m_cg, M_n_cg );
// f.set_Moments_Aero( M_l_aero, M_m_aero, M_n_aero );
// f.set_Moments_Engine( M_l_engine, M_m_engine, M_n_engine );
// f.set_Moments_Gear( M_l_gear, M_m_gear, M_n_gear );
// Accelerations
// f.set_Accels_Local( V_dot_north, V_dot_east, V_dot_down );
// f.set_Accels_Body( U_dot_body, V_dot_body, W_dot_body );
// f.set_Accels_CG_Body( A_X_cg, A_Y_cg, A_Z_cg );
// f.set_Accels_Pilot_Body( A_X_pilot, A_Y_pilot, A_Z_pilot );
// f.set_Accels_CG_Body_N( N_X_cg, N_Y_cg, N_Z_cg );
// f.set_Accels_Pilot_Body_N( N_X_pilot, N_Y_pilot, N_Z_pilot );
// f.set_Accels_Omega( P_dot_body, Q_dot_body, R_dot_body );
// Velocities
f.set_Velocities_Local( V_north, V_east, V_down );
// f.set_Velocities_Ground( V_north_rel_ground, V_east_rel_ground,
// V_down_rel_ground );
// f.set_Velocities_Local_Airmass( V_north_airmass, V_east_airmass,
// V_down_airmass );
// f.set_Velocities_Local_Rel_Airmass( V_north_rel_airmass,
// V_east_rel_airmass, V_down_rel_airmass );
// f.set_Velocities_Gust( U_gust, V_gust, W_gust );
// f.set_Velocities_Wind_Body( U_body, V_body, W_body );
// f.set_V_rel_wind( V_rel_wind );
// f.set_V_true_kts( V_true_kts );
// f.set_V_rel_ground( V_rel_ground );
// f.set_V_inertial( V_inertial );
// f.set_V_ground_speed( V_ground_speed );
// f.set_V_equiv( V_equiv );
f.set_V_equiv_kts( V_equiv_kts );
// f.set_V_calibrated( V_calibrated );
// f.set_V_calibrated_kts( V_calibrated_kts );
f.set_Omega_Body( P_body, Q_body, R_body );
// f.set_Omega_Local( P_local, Q_local, R_local );
// f.set_Omega_Total( P_total, Q_total, R_total );
// f.set_Euler_Rates( Phi_dot, Theta_dot, Psi_dot );
f.set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );
FG_LOG( FG_FLIGHT, FG_DEBUG, "lon = " << Longitude
<< " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude
<< " alt = " << Altitude << " sl_radius = " << Sea_level_radius
<< " radius_to_vehicle = " << Radius_to_vehicle );
// Positions
f.set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
Radius_to_vehicle );
f.set_Geodetic_Position( Latitude, Longitude, Altitude );
f.set_Euler_Angles( Phi, Theta, Psi );
// Miscellaneous quantities
f.set_T_Local_to_Body(T_local_to_body_m);
// f.set_Gravity( Gravity );
// f.set_Centrifugal_relief( Centrifugal_relief );
f.set_Alpha( Alpha );
f.set_Beta( Beta );
// f.set_Alpha_dot( Alpha_dot );
// f.set_Beta_dot( Beta_dot );
// f.set_Cos_alpha( Cos_alpha );
// f.set_Sin_alpha( Sin_alpha );
// f.set_Cos_beta( Cos_beta );
// f.set_Sin_beta( Sin_beta );
// f.set_Cos_phi( Cos_phi );
// f.set_Sin_phi( Sin_phi );
// f.set_Cos_theta( Cos_theta );
// f.set_Sin_theta( Sin_theta );
// f.set_Cos_psi( Cos_psi );
// f.set_Sin_psi( Sin_psi );
f.set_Gamma_vert_rad( Gamma_vert_rad );
// f.set_Gamma_horiz_rad( Gamma_horiz_rad );
// f.set_Sigma( Sigma );
// f.set_Density( Density );
// f.set_V_sound( V_sound );
// f.set_Mach_number( Mach_number );
// f.set_Static_pressure( Static_pressure );
// f.set_Total_pressure( Total_pressure );
// f.set_Impact_pressure( Impact_pressure );
// f.set_Dynamic_pressure( Dynamic_pressure );
// f.set_Static_temperature( Static_temperature );
// f.set_Total_temperature( Total_temperature );
f.set_Sea_level_radius( Sea_level_radius );
f.set_Earth_position_angle( Earth_position_angle );
f.set_Runway_altitude( Runway_altitude );
// f.set_Runway_latitude( Runway_latitude );
// f.set_Runway_longitude( Runway_longitude );
// f.set_Runway_heading( Runway_heading );
// f.set_Radius_to_rwy( Radius_to_rwy );
// f.set_CG_Rwy_Local( D_cg_north_of_rwy, D_cg_east_of_rwy, D_cg_above_rwy);
// f.set_CG_Rwy_Rwy( X_cg_rwy, Y_cg_rwy, H_cg_rwy );
// f.set_Pilot_Rwy_Local( D_pilot_north_of_rwy, D_pilot_east_of_rwy,
// D_pilot_above_rwy );
// f.set_Pilot_Rwy_Rwy( X_pilot_rwy, Y_pilot_rwy, H_pilot_rwy );
f.set_sin_lat_geocentric(Lat_geocentric);
f.set_cos_lat_geocentric(Lat_geocentric);
f.set_sin_cos_longitude(Longitude);
f.set_sin_cos_latitude(Latitude);
// printf("sin_lat_geo %f cos_lat_geo %f\n", sin_Lat_geoc, cos_Lat_geoc);
// printf("sin_lat %f cos_lat %f\n",
// f.get_sin_latitude(), f.get_cos_latitude());
// printf("sin_lon %f cos_lon %f\n",
// f.get_sin_longitude(), f.get_cos_longitude());
return 0;
} */